Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 173 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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016547,000002: ## Copyright: Public domain.
016548,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
016549,000004: ## Purpose: A section of Luminary revision 173.
016550,000005: ## It is part of the reconstructed source code for the second
016551,000006: ## (unflown) release of the flight software for the Lunar
016552,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
016553,000008: ## The code has been recreated from a reconstructed copy of
016554,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
016555,000010: ## It has been adapted such that the resulting bugger words
016556,000011: ## exactly match those specified for Luminary 173 in NASA
016557,000012: ## drawing 2021152N, which gives relatively high confidence
016558,000013: ## that the reconstruction is correct.
016559,000014: ## Reference: pp. 387-394
016560,000015: ## Assembler: yaYUL
016561,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016562,000017: ## Website: www.ibiblio.org/apollo/index.html
016563,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
016564,000019:
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Page 387
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016566,000021: # PROGRAM-IMU PERFORMANCE TESTS 4
016567,000022: # DATE-NOV 15,1966
016568,000023: # BY- GEORGE SCHMIDT IL7-146 EXT 1126
016569,000024: # MOD NO-ZERO
016570,000025:
016571,000026:
016572,000027: # FUNCTIONAL DESCRIPTION
016573,000028:
016574,000029: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
016575,000030: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
016576,000031: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
016577,000032:
016578,000033: # EARTHR,OGC ZERO,ERTHRVSE
016579,000034:
016580,000035: # NORMAL EXIT
016581,000036:
016582,000037: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
016583,000038:
016584,000039: # ALARMS
016585,000040:
016586,000041: # 1600 OVERFLOW IN DRIFT TEST
016587,000042: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016588,000043: # OUTPUT
016589,000044:
016590,000045: # FLASHING DISPLAY OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
016591,000046:
016592,000047: # DEBRIS
016593,000048:
016594,000049: # ALL CENTRALS-ALL OF EBANK XSM
016595,000050:
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Page 388
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016597,000052: 33,2117 BANK 33
016598,000053: 37,2000 SETLOC IMU4
016599,000054: 37,2000 BANK
016600,000055: 37,2500 COUNT* $$/P07
016601,000056:
016602,000057: 37,2500 E5,1642 EBANK= XSM
016603,000058:
016604,000059:
016605,000060: 37,2500 00004 ESTIMS INHINT
016606,000061: 37,2501 31572 CAE 1SECXT
016607,000062: 37,2502 05204 TC TWIDDLE
016608,000063: 37,2503 E5,1642 EBANK= XSM
016609,000064: 37,2503 02536 ADRES ALLOOP
016610,000065: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
016611,000066: 37,2505 54037 TS PIPAX
016612,000067: 37,2506 54040 TS PIPAY
016613,000068: 37,2507 54041 TS PIPAZ
016614,000069: 37,2510 00003 RELINT
016615,000070: 37,2511 33075 CA 77DECML
016616,000071: 37,2512 55571 TS ZERONDX
016617,000072: 37,2513 33076 CA ALXXXZ
016618,000073: 37,2514 02367 TC ZEROING
016619,000074: 37,2515 06042 TC INTPRET
016620,000075: 37,2516 77735 SLOAD
016621,000076: 37,2517 37057 SCHZEROS
016622,000077: 37,2520 25477 STOVL GCOMPSW -1
016623,000078: 37,2521 37070 INTVAL +2
016624,000079: 37,2522 26445 STOVL ALX1S
016625,000080: 37,2523 37057 SCHZEROS
016626,000081: 37,2524 00325 STORE DELVX
016627,000082: 37,2525 01472 STORE GCOMP
016628,000083: 37,2526 77735 SLOAD
016629,000084: 37,2527 02441 TORQNDX
016630,000085: 37,2530 50076 DCOMP BMN
016631,000086: 37,2531 76534 VERTSKIP
016632,000087: 37,2532 77624 CALL
016633,000088: 37,2533 76401 ERTHRVSE
016634,000089: 37,2534 77776 VERTSKIP EXIT
016635,000090: 37,2535 03035 TC SLEEPIE +1
016636,000091:
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Page 389
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016638,000093: 37,2536 31576 ALLOOP CA OVFLOWCK
016639,000094: 37,2537 00006 EXTEND
016640,000095: 37,2540 12542 BZF +2
016641,000096: 37,2541 05272 TC TASKOVER
016642,000097: 37,2542 11530 CCS ALTIM
016643,000098: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
016644,000099: 37,2544 55531 TS ALTIMS
016645,000100: 37,2545 40000 CS A
016646,000101: 37,2546 55530 TS ALTIM
016647,000102: 37,2547 44753 CS ONE
016648,000103: 37,2550 61562 AD GEOCOMPS
016649,000104: 37,2551 00006 EXTEND
016650,000105: 37,2552 12556 BZF +4
016651,000106: 37,2553 31412 CA LENGTHOT
016652,000107: 37,2554 00006 EXTEND
016653,000108: 37,2555 62562 BZMF +5
016654,000109: 37,2556 31572 CAE 1SECXT
016655,000110: 37,2557 05204 TC TWIDDLE
016656,000111: 37,2560 E5,1642 EBANK= XSM
016657,000112: 37,2560 02536 ADRES ALLOOP
016658,000113: 37,2561 34755 CAF ZERO
016659,000114: 37,2562 56037 XCH PIPAX
016660,000115: 37,2563 54324 TS DELVX
016661,000116: 37,2564 34755 CAF ZERO
016662,000117: 37,2565 56040 XCH PIPAY
016663,000118: 37,2566 54326 TS DELVY
016664,000119: 37,2567 34755 CAF ZERO
016665,000120: 37,2570 56041 XCH PIPAZ
016666,000121: 37,2571 54330 TS DELVZ
016667,000122: 37,2572 34736 SPECSTS CAF PRIO20
016668,000123: 37,2573 05105 TC FINDVAC
016669,000124: 37,2574 E5,1642 EBANK= XSM
016670,000125: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
016671,000126:
016672,000127: 37,2576 05272 TC TASKOVER
016673,000128:
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Page 390
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016675,000130: 37,2577 11562 ALFLT CCS GEOCOMPS
016676,000131: 37,2600 02602 TC +2
016677,000132: 37,2601 02604 TC NORMLOP
016678,000133: 37,2602 04616 TC BANKCALL
016679,000134: 37,2603 15271 CADR 1/PIPA
016680,000135: 37,2604 06042 NORMLOP TC INTPRET
016681,000136: 37,2605 77745 DLOAD
016682,000137: 37,2606 37066 INTVAL
016683,000138: 37,2607 24051 STOVL S1
016684,000139: 37,2610 00325 DELVX
016685,000140: 37,2611 76505 VXM VSL1
016686,000141: 37,2612 02643 XSM
016687,000142: 37,2613 57545 DLOAD DCOMP
016688,000143: 37,2614 00160 MPAC +3
016689,000144: 37,2615 16523 STODL DPIPAY
016690,000145: 37,2616 00162 MPAC +5
016691,000146: 37,2617 02527 STORE DPIPAZ
016692,000147:
016693,000148: 37,2620 76001 SETPD AXT,1
016694,000149: 37,2621 00001 0
016695,000150: 37,2622 00010 8D
016696,000151: 37,2623 57535 SLOAD DCOMP
016697,000152: 37,2624 02563 GEOCOMPS
016698,000153: 37,2625 77640 BMN
016699,000154: 37,2626 76772 PERFERAS
016700,000155: 37,2627 50135 ALCGKK SLOAD BMN
016701,000156: 37,2630 02532 ALTIMS
016702,000157: 37,2631 76644 ALFLT3
016703,000158: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016704,000159: 37,2633 00014 12D
016705,000160: 37,2634 02444 ALX1S
016706,000161: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016707,000162: 37,2636 02243 ALFDK +144D,1
016708,000163: 37,2637 77775 DEC -2 B-14
016709,000164: 37,2640 12545 STORE ALDK +10D,2
016710,000165: 37,2641 66104 TIX,2 SXA,1
016711,000166: 37,2642 76635 ALKCG2
016712,000167: 37,2643 02444 ALX1S
016713,000168:
016714,000169: 37,2644 77770 ALFLT3 AXT,1
016715,000170: 37,2645 00010 8D
016716,000171: 37,2646 41343 DELMLP DLOAD* DMP
016717,000172: 37,2647 02533 DPIPAY +8D,1
016718,000173: 37,2650 37100 PIPASC
016719,000174: 37,2651 43661 SLR BDSU*
016720,000175: 37,2652 21212 9D
016721,000176: 37,2653 02501 INTY +8D,1
016722,000177: 37,2654 06501 STORE INTY +8D,1
016723,000178: 37,2655 40725 PDDL DMP*
016724,000179: 37,2656 37102 VELSC
016725,000180:
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Page 391
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016727,000182: 37,2657 02521 VLAUN +8D,1
016728,000183: 37,2660 77732 SL2R
016729,000184: 37,2661 45425 DSU STADR
016730,000185: 37,2662 71216 STORE DELM +8D,1
016731,000186: 37,2663 06563 STORE DELM +10D,1
016732,000187: 37,2664 77100 TIX,1 AXT,2
016733,000188: 37,2665 76646 DELMLP
016734,000189: 37,2666 00004 4
016735,000190: 37,2667 56743 ALILP DLOAD* DMPR*
016736,000191: 37,2670 75324 ALK +4,2
016737,000192: 37,2671 75240 ALDK +4,2
016738,000193: 37,2672 12453 STORE ALK +4,2
016739,000194: 37,2673 77104 TIX,2 AXT,2
016740,000195: 37,2674 76667 ALILP
016741,000196: 37,2675 00010 8D
016742,000197: 37,2676 66140 ALKLP LXC,1 SXA,1
016743,000198: 37,2677 02445 CMPX1
016744,000199: 37,2700 02445 CMPX1
016745,000200: 37,2701 56743 DLOAD* DMPR*
016746,000201: 37,2702 02450 ALK +1,1
016747,000202: 37,2703 75216 DELM +8D,2
016748,000203: 37,2704 77613 DAD*
016749,000204: 37,2705 75276 INTY +8D,2
016750,000205: 37,2706 12501 STORE INTY +8D,2
016751,000206: 37,2707 42743 DLOAD* DAD*
016752,000207: 37,2710 75314 ALK +12D,2
016753,000208: 37,2711 75230 ALDK +12D,2
016754,000209: 37,2712 12463 STORE ALK +12D,2
016755,000210: 37,2713 42673 DMPR* DAD*
016756,000211: 37,2714 75216 DELM +8D,2
016757,000212: 37,2715 75266 INTY +16D,2
016758,000213: 37,2716 12511 STORE INTY +16D,2
016759,000214: 37,2717 40743 DLOAD* DMP*
016760,000215: 37,2720 37105 ALSK +1,1
016761,000216: 37,2721 75216 DELM +8D,2
016762,000217: 37,2722 42772 SL1R DAD*
016763,000218: 37,2723 75256 VLAUN +8D,2
016764,000219: 37,2724 12521 STORE VLAUN +8D,2
016765,000220: 37,2725 76104 TIX,2 AXT,1
016766,000221: 37,2726 76676 ALKLP
016767,000222: 37,2727 00010 8D
016768,000223:
016769,000224:
016770,000225: 37,2730 64743 LOOSE DLOAD* PDDL*
016771,000226: 37,2731 02523 ACCWD +8D,1
016772,000227: 37,2732 02521 VLAUN +8D,1
016773,000228: 37,2733 55523 PDDL* VDEF
016774,000229: 37,2734 02531 POSNV +8D,1
016775,000230: 37,2735 76521 MXV VSL1
016776,000231: 37,2736 02001 TRANSM1
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016778,000233: 37,2737 77745 DLOAD
016779,000234: 37,2740 00155 MPAC
016780,000235: 37,2741 06531 STORE POSNV +8D,1
016781,000236: 37,2742 77745 DLOAD
016782,000237: 37,2743 00160 MPAC +3
016783,000238: 37,2744 06521 STORE VLAUN +8D,1
016784,000239: 37,2745 77745 DLOAD
016785,000240: 37,2746 00162 MPAC +5
016786,000241: 37,2747 06523 STORE ACCWD +8D,1
016787,000242: 37,2750 77700 TIX,1
016788,000243: 37,2751 76730 LOOSE
016789,000244:
016790,000245:
016791,000246: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016792,000247: 37,2753 00006 6
016793,000248: 37,2754 00002 2
016794,000249: 37,2755 57343 BOOP DLOAD* DMPR
016795,000250: 37,2756 02503 ANGX +2,1
016796,000251: 37,2757 37110 GEORGEJ
016797,000252: 37,2760 77722 SR2R
016798,000253: 37,2761 73406 PUSH SIN
016799,000254: 37,2762 56072 SL3R XAD,1
016800,000255: 37,2763 00046 X1
016801,000256: 37,2764 10021 STORE 16D,2
016802,000257: 37,2765 77745 DLOAD
016803,000258: 37,2766 77746 COS
016804,000259: 37,2767 10027 STORE 22D,2 # COSINES
016805,000260: 37,2770 77704 TIX,2
016806,000261: 37,2771 76755 BOOP
016807,000262:
016808,000263: 37,2772 77776 PERFERAS EXIT
016809,000264: 37,2773 35016 CA EBANK7
016810,000265: 37,2774 54003 TS EBANK
016811,000266: 37,2775 E7,1400 EBANK= ATIGINC
016812,000267: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016813,000268:
016814,000269: # CAUTION
016815,000270:
016816,000271: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016817,000272: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016818,000273:
016819,000274: 37,2776 E5,1400 EBANK= AZIMUTH
016820,000275: 37,2776 11412 CCS LENGTHOT
016821,000276: 37,2777 03034 TC SLEEPIE
016822,000277: 37,3000 11440 CCS TORQNDX
016823,000278: 37,3001 13003 TCF +2
016824,000279: 37,3002 03005 TC SETUPER1
016825,000280: 37,3003 30032 CA CDUX
016826,000281: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016827,000282:
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Page 393
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016829,000284: 37,3005 06042 SETUPER1 TC INTPRET
016830,000285: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016831,000286: 37,3007 02473 ANGZ
016832,000287: 37,3010 02477 ANGY
016833,000288: 37,3011 55525 PDDL VDEF
016834,000289: 37,3012 02501 ANGX
016835,000290: 37,3013 74276 VCOMP VXSC
016836,000291: 37,3014 37110 GEORGEJ
016837,000292: 37,3015 74521 MXV VSR1
016838,000293: 37,3016 02643 XSM
016839,000294: 37,3017 02740 STORE OGC
016840,000295: 37,3020 77776 EXIT
016841,000296:
016842,000297:
016843,000298: 37,3021 32475 CA OGCPL
016844,000299: 37,3022 04616 TC BANKCALL
016845,000300: 37,3023 17307 CADR IMUPULSE
016846,000301: 37,3024 02315 TC IMUSLLLG
016847,000302: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016848,000303: 37,3026 02263 TC VALMIS
016849,000304: 37,3027 06042 TC INTPRET
016850,000305: 37,3030 77624 CALL
016851,000306: 37,3031 76401 ERTHRVSE
016852,000307: 37,3032 77776 EXIT
016853,000308: 37,3033 02117 TC TORQUE
016854,000309:
016855,000310:
016856,000311: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016857,000312: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016858,000313: 37,3036 02447 TC EARTHR*
016859,000314: 37,3037 05155 TC ENDOFJOB
016860,000315:
016861,000316:
016862,000317: 37,3040 35014 SOMEERRR CA EBANK5
016863,000318: 37,3041 54003 TS EBANK
016864,000319: 37,3042 34753 CA ONE
016865,000320: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016866,000321: 37,3044 05600 TC ALARM
016867,000322: 37,3045 01600 OCT 1600
016868,000323: 37,3046 02270 TC ENDTEST1
016869,000324: 37,3047 33054 SOMERR2 CAF OCT1601
016870,000325: 37,3050 05745 TC VARALARM
016871,000326: 37,3051 05527 TC DOWNFLAG
016872,000327: 37,3052 00007 ADRES IMUSE
016873,000328: 37,3053 05155 TC ENDOFJOB
016874,000329:
016875,000330: 37,3054 01601 OCT1601 OCT 01601
016876,000331: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016877,000332: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
016878,000333:
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016880,000335: 37,3060 00000 00000 2DEC .00000000
016881,000336: 37,3062 00000 OCT 00000
016882,000337: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016883,000338: 37,3064 00001 OCT 00001
016884,000339:
016885,000340: 37,3065 00004 INTVAL OCT 4
016886,000341: 37,3066 00002 OCT 2
016887,000342: 37,3067 00220 DEC 144 B-14
016888,000343: 37,3070 77776 DEC -1 B-14
016889,000344: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016890,000345: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016891,000346:
016892,000347: 37,3075 00115 77DECML DEC 77 B-14
016893,000348: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016894,000349: 37,3077 04133 02265 PIPASC 2DEC .13055869
016895,000350: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016896,000351: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016897,000352: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016898,000353:
016899,000354:
016900,000355: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016901,000356: 37,3111 23073 11773 GEORGEK 2DEC .59737013
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc